Detailed Description

The common parameters for Nonlinear optimizers.

Most optimizers deriving from NonlinearOptimizer also subclass the parameters.

Inheritance diagram for gtsam::NonlinearOptimizerParams:

Public Member Functions
size_t	getMaxIterations () const
double	getRelativeErrorTol () const
double	getAbsoluteErrorTol () const
double	getErrorTol () const
std::string	getVerbosity () const
void	setMaxIterations (int value)
void	setRelativeErrorTol (double value)
void	setAbsoluteErrorTol (double value)
void	setErrorTol (double value)
void	setVerbosity (const std::string &src)
virtual void	print (const std::string &str="") const
bool	equals (const NonlinearOptimizerParams &other, double tol=1e-9) const
bool	isMultifrontal () const
bool	isSequential () const
bool	isCholmod () const
bool	isIterative () const
GaussianFactorGraph::Eliminate	getEliminationFunction () const
std::string	getLinearSolverType () const
void	setLinearSolverType (const std::string &solver)
void	setIterativeParams (const boost::shared_ptr< IterativeOptimizationParameters > params)
void	setOrdering (const Ordering &ordering)
std::string	getOrderingType () const
void	setOrderingType (const std::string &ordering)

Static Public Member Functions
static Verbosity	verbosityTranslator (const std::string &s)
static std::string	verbosityTranslator (Verbosity value)

Public Attributes
size_t	maxIterations = 100
	The maximum iterations to stop iterating (default 100).
double	relativeErrorTol = 1e-5
	The maximum relative error decrease to stop iterating (default 1e-5).
double	absoluteErrorTol = 1e-5
	The maximum absolute error decrease to stop iterating (default 1e-5).
double	errorTol = 0.0
	The maximum total error to stop iterating (default 0.0).
Verbosity	verbosity = SILENT
	The printing verbosity during optimization (default SILENT).
Ordering::OrderingType	orderingType = Ordering::COLAMD
	The method of ordering use during variable elimination (default COLAMD).
IterationHook	iterationHook
	Optional user-provided iteration hook to be called after each optimization iteration (Default: none).
LinearSolverType	linearSolverType = MULTIFRONTAL_CHOLESKY
	The type of linear solver to use in the nonlinear optimizer.
boost::optional< Ordering >	ordering
	The optional variable elimination ordering, or empty to use COLAMD (default: empty).
IterativeOptimizationParameters::shared_ptr	iterativeParams
	The container for iterativeOptimization parameters. used in CG Solvers.

Public Types
enum	Verbosity { SILENT , TERMINATION , ERROR , VALUES , DELTA , LINEAR }
	See NonlinearOptimizerParams::verbosity.
enum	LinearSolverType { MULTIFRONTAL_CHOLESKY , MULTIFRONTAL_QR , SEQUENTIAL_CHOLESKY , SEQUENTIAL_QR , Iterative , CHOLMOD }
	See NonlinearOptimizerParams::linearSolverType.
using	IterationHook
	Type for an optional user-provided hook to be called after each internal optimizer iteration.

Member Typedef Documentation

Initial value:

std::function<

void(size_t , double, double)>

Type for an optional user-provided hook to be called after each internal optimizer iteration.

See iterationHook below.

IterationHook gtsam::NonlinearOptimizerParams::iterationHook

Optional user-provided iteration hook to be called after each optimization iteration (Default: none).

Note that IterationHook is defined as a std::function<> with this signature:

void(size_t iteration, double errorBefore, double errorAfter)

which allows binding by means of a reference to a regular function:

void foo(size_t iteration, double errorBefore, double errorAfter);
// ...
lmOpts.iterationHook = &foo;

or to a C++11 lambda (preferred if you need to capture additional context variables, such that the optimizer object itself, the factor graph, etc.):

lmOpts.iterationHook = [&](size_t iter, double oldError, double newError)
{
  // ...
};

or to the result of a properly-formed std::bind call.

The documentation for this class was generated from the following files: